Switching control for 3-D way-point tracking of a biomimetic underwater vehicle
Rui Wang1,2; Yu Wang1; Shuo Wang1; Chong Tang1,2
2017-06-25
会议名称International Ocean and Polar Engineering Conference
会议日期2017.6.25—2017.6.30
会议地点San Francisco, USA
摘要
This paper deals with the problem of dynamic hovering of a bio-inspired robot with undulatory fins. First, the mechanism and dynamic model of the underwater robot named RobCutt-II is briefly introduced. Next, an neural network visual servo control is presented to achieve hovering control. In particular, a dual-loop visual hovering control is designed. At first, we analyze the relationship between the image feature error and the direction of the controllable velocity. In the outer loop, a PID controller is used to calculate the current controllable velocity based on image feature error in real time. Meanwhile, the inverse model of undulatory fins is established using the neural network. The velocity error is hereby mapped to the control parameters of the undulatory fins of the RobCutt-II. The simulation results of dynamic hovering are provided to illustrate the validity of the proposed method.
 
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/21016
专题复杂系统管理与控制国家重点实验室_先进机器人
作者单位1.Institute of Automation, Chinese Academy of Sciences
2.University of Chinese Academy of Sciences
推荐引用方式
GB/T 7714
Rui Wang,Yu Wang,Shuo Wang,et al. Switching control for 3-D way-point tracking of a biomimetic underwater vehicle[C],2017.
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